Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Unrecognized tax benefits
Unrecognized tax benefits, beginning of year	$ 15,862	$ 14,108
Tax positions taken during the current year - Increases	2,891	2,814
Tax positions taken during a prior year - Increases	392	1,313
Tax positions taken during a prior year - Decreases	(1,810)	(1,954)
Decreases for settlements during the period	(384)
Reductions for lapses of applicable statute of limitations	(3,320)	(419)
Unrecognized tax benefits, end of year	13,631	15,862
Amount of unrecognized tax benefit, if recognized, that would affect the effective tax rate	13,631	15,862
Interest accrued on unrecognized tax benefit	0	93
Penalties accrued on unrecognized tax benefit	$ 0	$ 112